Vision-Based Segregation Behaviours in a Swarm of Autonomous Robots

  • Michael J. Price
  • Roderich Groß
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6856)


The accelerating development and usage of autonomous robots has led to increased interest in decentralised systems and the cooperation of individual elements within a swarm, in particular the ability to self-organise and form patterns or self-segregate. Such segregation is readily exhibited in nature, as highlighted by prior work looking at the collective sorting of brood items by ant colonies [1,3]. This work focuses on the ability of robots to spatially segregate themselves. In particular, it takes inspiration primarily from the Brazil nut effect [6], which is responsible for the emergent striped patterns observed when a container holding particles of different sizes is agitated.


Mobile Robot Autonomous Robot Gravitational Centre Brood Item Synthetic Environment 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Michael J. Price
    • 1
  • Roderich Groß
    • 1
  1. 1.Natural Robotics Lab, Department of Automatic Control and Systems EngineeringThe University of SheffieldSheffieldUK

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